Full-process metal ingot intelligent casting system

Abstract

The invention discloses a full-process intelligent metal ingot casting system, and relates to the technical field of non-ferrous metallurgical equipment. A scooping spoon is arranged at the hand part of the casting robot; the scum removing robot is arranged on one side of the linear casting machine, and a scum removing plate is mounted on the hand of the scum removing robot; the input end of the chain conveyor corresponds to the lower part of the output end of the linear casting machine; the input end of the chain scraper conveyor corresponds to the output end of the chain conveyor; a laser coding machine, an appearance quality detection device, a trimming robot and a stacking robot are sequentially arranged on the side of the chain conveyor in the conveying direction. The palletizing robot corresponds to the output end of the chain conveyor; a full-automatic packaging machine, an automatic weighing device and an automatic labeling device are sequentially arranged on the chain scraper conveyor in the conveying direction; and the controller controls the operation of the casting system. According to the invention, the ingot casting precision and the product quality can be improved, and unattended operation in the ingot casting process and automation and intellectualization of the whole process are realized.

Description

Technical Field

[0001] The present invention relates to the technical field of nonferrous metallurgical equipment, and in particular to a full-process intelligent metal ingot casting system. Background Art

[0002] The following steps are generally required in the ingot casting process of tin and other nonferrous metals (zinc, lead, aluminum, etc.): ① pouring molten metal into the mold; ② removing the oxide slag on the surface of the liquid metal in the mold; ③ using air cooling or water cooling to quickly cool and solidify the liquid metal; ④ demolding the metal ingot after solidification; ⑤ coding the surface of the metal ingot (brand and product production information); ⑥ removing unqualified products; ⑦ removing the burrs and burrs on the surface of qualified metal ingots; ⑧ stacking; ⑨ bundling; ⑩ weighing and labeling, and finally the qualified metal ingots off the line are exported. In the prior art, in the process of metal ingot production, the molten metal is generally poured into the mold by means of a metering pump and a rotating drum. The generated oxide slag is manually scraped off with special hand-held tools, unqualified products are removed by manual experience judgment, and the flash and burrs of qualified products need to be manually scraped off with a hand-held spatula. This production method will cause a large deviation in the amount of molten metal added, resulting in uneven thickness of metal ingots, high labor intensity and safety risks in manual operations, and at the same time, if you are not careful, it is easy for waste ingots to be mixed into qualified products, affecting the quality and sales of the final product and reducing product competitiveness.

[0003] Therefore, how to provide a full-process intelligent metal ingot casting system that can improve ingot casting accuracy, reduce manual labor intensity, reduce scrap rate and improve product quality, and has good safety characteristics is an urgent problem that technical personnel in this field need to solve. Summary of the invention

[0004] In view of this, the present invention proposes a full-process intelligent metal ingot casting system, which aims to solve the technical problems in the above-mentioned existing casting system, such as large deviation in the amount of molten metal added, manual slag removal, low ingot casting accuracy, high manual labor intensity and high safety risks.

[0005] In order to achieve the above object, the present invention adopts the following technical solution:

[0006] The present invention provides a full-process intelligent metal ingot casting system, comprising:

[0007] A linear casting machine, wherein a casting mold is installed on the linear casting machine;

[0008] A casting robot, which is arranged on one side of the linear casting machine and has a scoop installed on its hand for quantitatively scooping molten metal and pouring it into the mold cavity of the casting mold;

[0009] A slag scraping robot, which is arranged on one side of the linear casting machine and has a slag scraping plate installed on its hand for scraping slag off the surface of the molten metal in the mold cavity;

[0010] Chain conveyor and chain plate conveyor, the input end of the chain conveyor corresponds to the lower side of the output end of the linear casting machine to receive the molded metal ingots that have been demolded; the input end of the chain plate conveyor is arranged corresponding to the output end of the chain conveyor; a laser coding machine, an appearance quality inspection device, a trimming robot and a stacking robot are arranged in sequence on the side of the chain conveyor along the conveying direction to sequentially code, inspect the appearance, trim and stack the molded metal ingots output by the linear casting machine, and thus produce qualified molded metal ingots; the stacking robot is arranged corresponding to the output end of the chain conveyor to stack the molded metal ingots on the output end of the chain conveyor onto the input end of the chain plate conveyor; a fully automatic baler, an automatic weighing device and an automatic labeling device are arranged in sequence on the chain plate conveyor along the conveying direction to sequentially baler, weigh and label the metal ingot stacks, and thus output the finished metal ingot stacks;

[0011] A controller is electrically connected to and controls the operation of the linear casting machine, the chain conveyor, the chain plate conveyor, the casting robot, the slag removal robot, the laser coding machine, the appearance quality detection device, the trimming robot, the stacking robot, the fully automatic baling machine, the automatic weighing device and the automatic labeling device.

[0012] When the full-process intelligent metal ingot casting system of the present invention is working, the casting robot can control the scoop installed on its hand to quantitatively scoop the molten metal to be cast from the pot containing the molten metal, and slowly pour the molten metal into the mold cavity running in a straight line on the linear casting machine. The casting robot can flexibly adapt to the travel speed of the mold to ensure that the molten metal in the scoop stably flows into the mold cavity, thereby reducing the scrap rate and improving the ingot casting accuracy and product quality; the slag scraping robot can control the slag scraping plate installed on its hand to be embedded in the mold cavity running in a straight line to scrape the slag on the surface of the molten metal to the outside of the mold cavity, thereby reducing the labor intensity and improving the safety; the chain conveyor is used to receive and convey the solid formed metal ingots that fall off from the mold at the output end of the linear casting machine; the chain plate conveyor is used to convey the piles of qualified formed metal ingots produced; the laser coding machine is used to code and mark the surface of the formed metal ingots The product's trademark, brand, production batch and other information can be sent from the factory's production information management system to the control system of the laser coder; the appearance quality detection device is used to detect the surface color, surface laser coding information, texture (scum), three-dimensional size measurement, contour curvature, and upper surface convexity of the formed metal ingots to determine whether the formed metal ingots are qualified; the trimming robot is used to trim and deburr the formed metal ingots to further improve the product appearance quality; the stacking robot is used to transport and stack the formed metal ingots; the metal ingot stacks continue to be transported after the input end of the chain conveyor, and the metal ingot stacks are packaged by the fully automatic packaging machine, weighed by the automatic weighing device, and labeled by the automatic labeling device to further indicate the weight, trademark, brand, production batch number and other information of the metal ingot stack products. The controller is used to control the signal interaction between the equipment in the above casting process, and realize the periodic and uninterrupted metal ingot casting operation through time control, step sequence control, etc. The structure of the intelligent casting system of the present invention is more perfect, and it can realize unmanned participation in the whole process from liquid metal casting to the final output of qualified metal ingots, completely eliminating the safety hazards of manual operation, greatly reducing manual labor intensity, reducing scrap rate, improving product quality, and enhancing the level of industrial intelligence and automation equipment.

[0013] As a further improvement of the above technical solution, the scoop has a plurality of chambers arranged in parallel; the upper end of the linear casting machine has a plurality of casting molds arranged horizontally in parallel in sequence along the conveying direction; the casting robot can drive the scoop to move so as to pour molten metal into the mold cavities of a plurality of casting molds through the plurality of chambers at the same time.

[0014] The beneficial effect of the above technical solution is that the scoop with multiple chambers can be adapted to pour the cavities of multiple casting molds at one time, which greatly improves the processing efficiency.

[0015] As a further improvement of the above technical solution, the casting robot and the slag removal robot are symmetrically arranged on both sides of the linear casting machine; the slag removal plate has a plurality of slag removal plates arranged horizontally at intervals; the slag removal robot can drive the slag removal plate to move so that the plurality of slag removal plates are correspondingly embedded in the mold cavities of the plurality of casting molds to remove the slag on the surface of the molten metal.

[0016] The beneficial effects of the above technical solution are: the slag removal plate with multiple slag removal plates can simultaneously remove slag from the molten metal in multiple casting mold cavities, thereby further improving the slag removal efficiency; the robot can accurately control the depth of the slag removal plate embedded in the molten metal layer, thereby improving the quality of the slag removal operation.

[0017] As a further improvement of the above technical solution, the chain conveyor includes two horizontally arranged conveying chains; the top ends of the two conveying chains are support ends corresponding to the two ends of the formed metal ingot after demolding, so as to support and convey the formed metal ingot; between the two conveying chains, corresponding to the laser coding machine, the appearance quality inspection device, the trimming robot and the stacking robot, there are ingot blocking and lifting devices to locate, intercept and lift the formed metal ingot upward, so that the formed metal ingot is separated from the top end of the conveying chain.

[0018] The beneficial effects of the above technical solution are: the two ends of the formed metal ingot can be adapted to be movably placed on the top of the two conveyor chains respectively, and can be conveyed by the two synchronously running conveyor chains; the ingot blocking and lifting device is arranged between the two conveyor chains and will not interfere with the conveyor chains; the formed metal ingots need to be positioned and kept in a static state when the laser coding machine performs laser coding, the appearance quality inspection device performs appearance inspection, the trimming robot performs trimming, and the stacking robot performs stacking; however, in order to maintain continuous production operations, the conveyor chain needs to maintain a continuous conveying state to avoid the accumulation of formed metal ingots under the output end of the linear casting machine, and the formed metal ingot can be intercepted and positioned by the ingot blocking and lifting device and lifted upward to make it upward away from the conveyor chain, which can avoid the running conveyor chain scratching the positioned static formed metal ingot.

[0019] As a further improvement of the above technical solution, a clamping fixture is provided on the outer side of the chain conveyor corresponding to the trimming robot to clamp and fix the lower parts of the two ends of the formed metal ingot in the jacking state.

[0020] The beneficial effect of the above technical solution is: after the ingot blocking and lifting device intercepts the formed metal ingot from the conveying chain and lifts it to a predetermined height, in order to ensure that the formed metal ingot does not shift when the trimming robot trims and deburrs the formed metal ingot, the formed metal ingot in the lifted state is further clamped and fixed by a clamping fixture, thereby preventing displacement; the clamping fixture clamps the lower parts of the two ends of the formed metal ingot and will not interfere with the trimming operation of the trimming robot on the top of the formed metal ingot.

[0021] As a further improvement of the above technical solution, the appearance quality inspection device includes a 2D industrial camera, a 3D industrial camera and a quality analysis system. The 2D industrial camera and the 3D industrial camera are both vertically installed above the ingot lifting device to take pictures and collect appearance data of the formed metal ingot; the quality analysis system is electrically connected to the 2D industrial camera and the 3D industrial camera to receive the appearance data and perform appearance quality comparison inspection and processing, and then judge whether the formed metal ingot is qualified.

[0022] The beneficial effects of the above technical solution are: the ingot blocking and lifting device intercepts the formed metal ingot from the conveyor chain and lifts it to a predetermined height; the 2D industrial camera can take pictures of the formed metal ingot to perform comparative detection of surface color, surface laser coding information, and texture (scum) to determine whether the product is qualified; the 3D industrial camera can perform three-dimensional size measurement, contour curvature measurement, and upper surface convexity measurement of the formed metal ingot to determine whether the product is qualified.

[0023] As a further improvement of the above technical solution, an ingot pushing cylinder is arranged on one side of the chain conveyor corresponding to the appearance quality inspection device, and a waste ingot receiving tray is arranged on the other side corresponding to the ingot pushing cylinder; the controller electrically connects the quality analysis system and the ingot pushing cylinder to control the ingot pushing cylinder to push the formed metal ingots that are in a positioning and lifting state and fail the appearance quality inspection to the waste ingot receiving tray.

[0024] The beneficial effects of the above technical solution are: if the inspection result of the 2D industrial camera is unqualified, the unqualified metal ingot will be pushed out from the ingot blocking lifting device to the waste ingot receiving tray by the ingot pushing cylinder; if the inspection result of the 2D industrial camera is qualified, the 3D industrial camera will continue to inspect; if the 3D industrial camera inspection is unqualified, the unqualified metal ingot will be pushed out from the ingot blocking lifting device to the waste ingot receiving tray by the ingot pushing cylinder; if the 3D industrial camera inspection is qualified, the ingot blocking lifting device will place the qualified formed metal ingot on the conveyor chain and continue to convey it to the rear.

[0025] As a further improvement of the above technical solution, the hand of the trimming robot is equipped with a trimming tool and a metal chip recovery straw; the metal chip recovery straw is arranged corresponding to the upper end of the trimming tool to suck and recover the metal chips cut off by the trimming tool from the formed metal ingot.

[0026] The beneficial effects of the above technical solution are: the trimming robot controls the trimming tool installed on the hand to be positioned at the edge of the formed metal ingot, and drives the trimming tool to circle the edge of the formed metal ingot along a preset trajectory to repair the flash burrs on the edge of the metal ingot; the flash burr fragments that are cut off are sucked away by the metal chip recovery straw and recovered centrally.

[0027] As a further improvement of the above technical solution, the automatic weighing device includes a weighing platform arranged on the side of the chain conveyor for weighing metal ingot stacks and an ingot stack transporting fork mechanism arranged corresponding to the weighing platform for transporting packaged metal ingot stacks back and forth between the chain conveyor and the weighing platform.

[0028] The beneficial effect of the above technical solution is that when the metal ingot stacked on the chain conveyor is transported to the corresponding automatic weighing device, the ingot stack transporting fork frame mechanism can move the metal ingot stack from the chain conveyor to the weighing platform for weighing. After the weighing is completed, the ingot stack transporting fork frame mechanism can move the metal ingot stack from the weighing platform back to the chain conveyor and continue to transport it to the rear.

[0029] As a further improvement of the above technical solution, the automatic labeling device includes a label printer, a labeling robot and a label suction cup; the label printer is electrically connected to the weighing platform to collect the weighing data of the metal ingot stack and print a label with the product information of the metal ingot stack; the label suction cup is installed on the hand of the labeling robot to drive the label suction cup to absorb the printed label from the label output end of the label printer, and transfer the label to the surface of the metal ingot stack.

[0030] The beneficial effects of the above technical solution are: the label printer can print out labels containing the weight information of the metal ingot stack; the labeling robot controls the label suction cup to realize flexible labeling at the appropriate position on the surface of the metal ingot stack.

[0031] It can be seen from the above technical solutions that, compared with the prior art, the present invention discloses a full-process intelligent metal ingot casting system, which has the following advantages and beneficial effects:

[0032] 1. The entire metal ingot production and casting process of the present invention is truly unmanned, which not only reduces labor consumption costs, but also completely eliminates the safety hazards of manual operation. The entire process is automated and intelligent; a metal ingot casting system with a more complete structure is realized.

[0033] 2. In the process of producing metal ingots, the present invention controls a scoop with multiple quantitative volume chambers through a casting robot to simultaneously pour liquid metal into multiple casting mold cavities in a quantitative manner, and uses a slag scraping robot to control a slag scraping plate with multiple slag scraping plates to simultaneously remove the oxide slag produced on the surface of the liquid metal in the corresponding multiple mold cavities, thereby greatly improving the casting accuracy and operation efficiency, improving product quality, and reducing the labor intensity and operation risks of manual operations.

[0034] 3. The present invention can realize accurate positioning of formed metal ingots and upper and lower separation from the conveying chain through the ingot blocking and lifting device, which can facilitate coding, appearance inspection, trimming and stacking operations; through the appearance quality inspection device in conjunction with the ingot pushing cylinder and the waste ingot receiving tray, automatic detection and removal of waste ingots are realized, which can improve product qualification rate, competitiveness and product brand image; the trimming robot improves the trimming efficiency and can recover metal chips during trimming, avoiding the random scattering of metal chips and effectively ensuring the cleanliness of the on-site environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0036] Figure 1 A schematic diagram of the overall structure of a full-process intelligent metal ingot casting system of the present invention;

[0037] Figure 2 A schematic structural diagram of a casting robot for a full-process intelligent metal ingot casting system according to the present invention;

[0038] Figure 3 A schematic structural diagram of a slag removal robot in a full-process intelligent metal ingot casting system of the present invention;

[0039] Figure 4 A schematic diagram of the working state of a laser coding machine in a state where an ingot-blocking lifting device of a full-process metal ingot intelligent casting system of the present invention lifts a formed metal ingot;

[0040] Figure 5 A schematic diagram of the working state of the appearance quality detection device of the full-process metal ingot intelligent casting system of the present invention when the ingot blocking and lifting device lifts the formed metal ingot;

[0041] Figure 6 A schematic structural diagram of a trimming robot for a full-process intelligent metal ingot casting system according to the present invention;

[0042] Figure 7A schematic structural diagram of a stacking robot for a full-process intelligent metal ingot casting system according to the present invention;

[0043] Figure 8 A schematic structural diagram of an automatic weighing device for a full-process intelligent metal ingot casting system according to the present invention;

[0044] Fig. 9 A schematic structural diagram of an automatic labeling device for a full-process intelligent metal ingot casting system according to the present invention;

[0045] Fig.10 A schematic structural diagram of a metal ingot turning mechanism of a full-process metal ingot intelligent casting system of the present invention;

[0046] In the figure: 1. linear casting machine; 101. annular conveyor chain; 102. casting mold; 1021. formed metal ingot; 103. casting end; 104. flip demolding end; 105. cooling air hood; 106. exhaust pipe; 107. cooling spray water pipe; 108. demolding vibration mechanism; 109. conveyor chain driving mechanism; 1091. driving motor; 1092. driving wheel; 1093. driven wheel; 2. chain conveyor; 21. Conveyor chain; 22. Chain drive mechanism; 3. Chain conveyor; 4. Casting robot; 41. Scoop; 411. Chamber; 5. Scum robot; 51. Scum plate; 511. Scum separation plate; 52. Scum plate; 6. Laser coder; 7. Appearance quality inspection device; 8. Trimming robot; 81. Trimming tool; 9. Palletizing robot; 91. Clamp; 10. Fully automatic baler; 11. Automatic weighing 111. Weighing device; 112. Fork frame mechanism for handling ingot stacks; 1121. Fork frame; 1122. Lifting and translational driving mechanism; 1123. Gantry frame; 12. Automatic labeling device; 121. Label printer; 122. Labeling robot; 123. Label suction cup; 1231. Vacuum suction cup; 1232. Vacuum pump; 1233. Spring; 13. Ingot stop lifting device; 131. Ingot stop vertical plate; 1 32. Lifting plate; 133. Lifting mechanism; 134. Position detection sensor; 14. Clamping fixture; 141. Clamping cylinder; 142. Clamping plate; 15. Ingot pushing cylinder; 16. Waste ingot receiving tray; 17. Molten metal pot; 18. Ingot stack; 19. Metal ingot turning mechanism; 191. Ingot blocking cylinder; 1911. Ingot blocking plate; 192. Ingot turning cylinder; 1921. Turning plate; 193. Photoelectric position sensor. DETAILED DESCRIPTION

[0047] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0048] In the description of the present invention, it is necessary to understand that the terms "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0049] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0050] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be installed or electrically connected; it can be directly connected or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0051] like Figures 1 to 10 As shown, a full-process intelligent metal ingot casting system includes:

[0052] The linear casting machine 1 comprises a vertical sprocket conveying mechanism, a plurality of casting molds 102 are fixedly mounted on a ring conveying chain 101 of the vertical sprocket conveying mechanism; the plurality of casting molds 102 are sequentially arranged in parallel along the ring conveying direction; the casting molds 102 on the upper horizontal conveying section of the ring conveying chain 101 are all opened upwards and can receive the poured molten metal, the starting end of the conveying direction on the horizontal conveying section is the casting end 103 of the linear casting machine 1 receiving the poured molten metal, and the cooling solid is provided between the starting end and the end of the horizontal conveying section. The metal liquid in the casting mold 102 gradually cools and solidifies into an ingot during the process of running on the cooling and solidification section; the arc-shaped turning section on the circular conveying chain 101 is connected to the end of the conveying direction of the horizontal conveying section, and the arc-shaped turning section is the turning and demolding end 104 of the linear casting machine 1 outputting the formed metal ingot; when the solidified metal ingot runs to the arc-shaped turning section of the circular conveying chain 101, as the mold cavity opening of the casting mold 102 gradually turns downward, the formed metal ingot in the mold cavity will automatically fall out under the action of gravity;

[0053] The casting robot 4 is arranged at one side of the linear casting machine 1, and its hand is equipped with a scoop 41 which can quantitatively scoop up the molten metal and pour it into the mold cavity of the casting mold 102;

[0054] A slag scraping robot 5, which is arranged at one side of the linear casting machine 1, and has a slag scraping plate 51 installed on its hand to scrape off the slag on the surface of the molten metal in the mold cavity;

[0055] Chain conveyor 2 and chain plate conveyor 3, the input end of chain conveyor 2 corresponds to the lower side of the output end of linear casting machine 1 to receive the molded metal ingots after demolding; the input end of chain plate conveyor 3 is arranged corresponding to the output end of chain conveyor 2; laser coding machine 6, appearance quality inspection device 7, trimming robot 8 and stacking robot 9 are arranged in sequence on the side of chain conveyor 2 along the conveying direction to sequentially code, appearance inspect, trim and stack the molded metal ingots output by linear casting machine 1, and then produce qualified molded metal ingots; the stacking robot 9 is arranged corresponding to the output end of chain conveyor 2 to stack the molded metal ingots on the output end of chain conveyor 2 onto the input end of chain plate conveyor 3; full-automatic baling machine 10, automatic weighing device 11 and automatic labeling device 12 are arranged in sequence on chain plate conveyor 3 along the conveying direction to sequentially pack, weigh and label the metal ingot stacks, and then output the finished metal ingot stacks;

[0056] The controller is electrically connected to and controls the operation of the linear casting machine 1, the chain conveyor 2, the chain plate conveyor 3, the casting robot 4, the slag removal robot 5, the laser coding machine 6, the appearance quality detection device 7, the trimming robot 8, the stacking robot 9, the full-automatic baling machine 10, the automatic weighing device 11 and the automatic labeling device 12.

[0057] When a full-process intelligent metal ingot casting system of the present embodiment is working, the casting robot 4 can control the scoop 41 installed on its hand to quantitatively scoop the molten metal to be cast from the pot containing the molten metal, and slowly pour the molten metal into the mold cavity 102 running in a straight line on the linear casting machine 1. The casting robot 4 can flexibly adapt to the travel speed of the mold 102 to ensure that the molten metal in the scoop 41 stably flows into the mold cavity of the mold 102, thereby reducing the scrap rate and improving the ingot casting accuracy and product quality; the slag scraping robot 5 can control the slag scraping plate 51 installed on its hand to be embedded in the mold cavity of the linearly running mold 102 to scrape the slag on the surface of the molten metal to the outside of the mold cavity, thereby reducing the labor intensity and improving the safety; the chain conveyor 2 is used to receive and convey the solid formed metal ingots that fall off from the mold 102 at the output end of the linear casting machine 1; the chain plate conveyor 3 is used to convey the stacks of qualified formed metal ingots produced; the laser coding machine 6 is used to The surface of the formed metal ingot is coded with information such as the trademark, brand, and production batch of the product, which can be sent from the factory production information management system to the control system of the laser coder; the appearance quality detection device 7 is used to detect the surface color, surface laser coding information, texture slag, three-dimensional size measurement, contour curvature, and upper surface convexity of the formed metal ingot, so as to determine whether the formed metal ingot is qualified; the trimming robot 8 is used to trim and deburr the formed metal ingot to further improve the product appearance quality; the stacking robot 9 is used to transport and stack the formed metal ingots; the metal ingot stack continues to be transported after the input end of the chain conveyor 3, and the metal ingot stack is packaged by the fully automatic packaging machine 10, the metal ingot stack is weighed by the automatic weighing device 11, and the metal ingot stack is labeled by the automatic labeling device 12 to further indicate the weight, trademark, brand, production batch number, and other information of the metal ingot stack product. The controller is used to control the signal interaction between the devices in the above casting process, and realize the periodic and uninterrupted metal ingot casting operation through time control, step sequence control, etc. The structure of the intelligent casting system of the present invention is more perfect, and it can realize unmanned participation in the whole process from liquid metal casting to the final output of qualified metal ingots, completely eliminating the safety hazards of manual operation, greatly reducing manual labor intensity, reducing scrap rate, improving product quality, and enhancing the level of industrial intelligence and automation equipment.

[0058] It should be noted that: the linear casting machine 1 includes a frame, a vertical sprocket conveying mechanism is installed on the frame, the vertical sprocket conveying mechanism includes a ring conveying chain 101 and a conveying chain driving mechanism 109; the conveying chain driving mechanism 109 includes a driving motor 1091, a driving wheel 1092 and a driven wheel 1093; the vertical sprocket conveying mechanism can select an existing product or design it by referring to the existing technology, and the specific structure will not be repeated here.

[0059] Specifically, the casting robot 4 is composed of a scoop 41 , a six-axis robot, and a robot control system. The scoop is installed on the robot hand. The robot control system is used to control the robot to scoop molten metal from the molten metal pot 17 , control the motion trajectory, and pour the molten metal into the mold 102 .

[0060] In some embodiments, the scoop 41 has a plurality of chambers 411 arranged in parallel; the upper end of the linear casting machine 1 has a plurality of casting molds 102 arranged horizontally in parallel in sequence along the conveying direction; the casting robot 4 can drive the scoop 41 to move so as to pour molten metal into the mold cavities of a plurality of casting molds 102 at the same time through the plurality of chambers 411.

[0061] The scoop 41 with multiple chambers 411 can be adapted to pour into the mold cavities of multiple casting molds 102 at one time, which greatly improves the processing efficiency.

[0062] Specifically, the scoop 41 has three chambers 411 of the same volume arranged in parallel (for tin liquid, each chamber can hold a weight of about 25 kg of molten metal); the casting robot 4 can drive the scoop 41 to quantitatively scoop the heated liquid metal from the nearby molten metal pot 17, and run to the top of the casting end 103 according to the set running trajectory, so as to simultaneously and slowly pour the molten metal into the mold cavities of three parallel and equally spaced casting molds 102 on the linear casting machine 1 running at a low speed through the three chambers 411. After the pouring is completed, the casting robot continues to perform this action periodically to perform continuous casting operations.

[0063] In some embodiments, the casting robot 4 and the slag removal robot 5 are symmetrically arranged on both sides of the linear casting machine 1; the slag removal plate 51 has a plurality of slag removal plates 511 arranged horizontally at intervals; the slag removal robot 5 can drive the slag removal plate 51 to move so that the plurality of slag removal plates 511 are correspondingly embedded in the mold cavities of the plurality of casting molds 102 to remove the slag on the surface of the molten metal.

[0064] The slag removal plate 51 having multiple slag removal plates 511 can simultaneously remove slag from the molten metal in the cavities of multiple casting molds 102, thereby further improving the efficiency of the slag removal operation. The robot can accurately control the depth of the slag removal plates 511 embedded in the molten metal layer, thereby improving the quality of the slag removal operation.

[0065] Specifically, a photoelectric switch is installed on the frame of the linear casting machine 1 at a position corresponding to the slag removal robot 5 to monitor whether the casting mold 102 containing the molten metal runs to the slag removal station.

[0066] Specifically, the casting mold 102 is strip-shaped and arranged vertically in the conveying direction; a slag pan 52 is fixedly installed on one side of the casting mold 102 in the length direction at the casting end 103 on the frame of the linear casting machine 1, and under the control of the slag removal robot 5, the slag removal plate 511 can remove the slag on the surface of the molten metal in the mold cavity of the casting mold 102 according to a preset trajectory and throw it into the slag pan 52 for centralized recovery.

[0067] Specifically, the slag scraping robot 5 is composed of a slag scraping plate, a six-axis robot, and a robot control system. The slag scraping plate is installed on the robot hand. The robot control system is used to control the robot to scrape the surface slag from the mold 102, control the motion trajectory, and throw the slag into the slag pan 52.

[0068] In some embodiments, in order to improve the cooling efficiency of the mold 102 filled with molten metal on the cooling and solidifying section of the circular conveyor chain 101, a cooling device is installed on the frame of the linear casting machine 1 corresponding to the cooling and solidifying section of the circular conveyor chain 101; the cooling device includes a cooling air hood 105 arranged above the corresponding cooling and solidifying section, an exhaust pipe 106 connected to the cooling air hood 105, and a cooling spray water pipe 107 arranged on one side of the corresponding circular conveyor chain 101; the cooling air hood 105 gathers and collects the heat emitted by the cast molten metal, and the exhaust pipe 106 is connected to the cooling air hood 105 to quickly extract and discharge the heat; the cooling spray water pipe 107 is used to spray cooling water onto the surface of the mold 102 on the cooling and solidifying section to accelerate the solidification and molding of the molten metal.

[0069] Specifically, the casting mold 102 after the scum is removed from the surface continues to run backward at a low speed, and after running to the cooling spray area, the cooling air hood 105 is used for air cooling and the cooling spray water pipe 107 is used for water cooling, so that the liquid metal in the casting mold 102 can be cooled and solidified into a solid metal ingot with a temperature of about 30°C to 40°C.

[0070] In some embodiments, when the mold 102 containing the solid metal ingot runs to the flip demolding end 104 of the linear casting machine 1, in order to achieve smooth demolding of the solid metal ingot, a demolding vibration mechanism 108 is installed on the frame of the linear casting machine 1 corresponding to the flip demolding end 104; the demolding vibration mechanism 108 includes a vibration cylinder and a connecting rod; one end of the connecting rod is fixedly connected to the piston rod of the vibration cylinder, and the other end can abut against the outer wall of the mold 102 at the flip demolding end 104, and the vibration cylinder drives the connecting rod to rotate reciprocatingly to drive the mold 102 to vibrate, thereby making the solid formed metal ingot in the mold 102 quickly and smoothly demolded.

[0071] In some embodiments, a non-powered flipping device for flipping the molded metal ingot 19 after flipping and demolding is installed on the frame of the linear casting machine 1 corresponding to the flipping and demolding end 104. The design can refer to the Chinese patent: Energy-saving non-powered flipping device for ingots in continuous casting machines (authorization announcement number: CN201871718U).

[0072] In some embodiments, the chain conveyor 2 includes two horizontally arranged conveying chains 21; the top ends of the two conveying chains 21 are corresponding to the supporting ends of the two ends of the formed metal ingot after demolding, so as to support and convey the formed metal ingot; between the two conveying chains 21, corresponding to the laser coding machine 6, the appearance quality inspection device 7, the trimming robot 8 and the stacking robot 9, there are ingot blocking and lifting devices 13 to locate, intercept and lift the formed metal ingot upward, so that the formed metal ingot is separated from the top of the conveying chain 21.

[0073] The two ends of the formed metal ingot can be adapted to be movably placed on the top of the two conveyor chains 21, and can be conveyed by the two synchronously running conveyor chains 21; the ingot blocking and lifting device 13 is arranged between the two conveyor chains 21 and will not interfere with the conveyor chains 21; when the laser coding machine 6 performs laser coding, when the appearance quality inspection device 7 performs appearance inspection, when the trimming robot 8 performs trimming, and when the stacking robot 9 performs stacking, the formed metal ingot needs to be positioned and kept in a static state; however, in order to maintain continuous production operations, the conveyor chain 21 needs to maintain a continuous conveying state to avoid the accumulation of formed metal ingots under the output end of the linear casting machine 1, and the formed metal ingot can be intercepted and positioned by the ingot blocking and lifting device 13 and lifted upward to make it upwardly separated from the conveyor chain 21, so as to avoid the running conveyor chain 21 scratching the positioned static formed metal ingot.

[0074] Specifically, the two conveyor chains 21 are both ring chains, the two conveyor chains 21 are coaxial and arranged opposite to each other, and are driven by a chain driving mechanism 22; the chain driving mechanism 22 adopts the existing technology, and the specific structure is not repeated here.

[0075] In some embodiments, the ingot blocking lifting device 13 includes an ingot blocking vertical plate 131 arranged in the conveying direction of the conveying chain 21, a horizontally arranged lifting support plate 132, a lifting mechanism 133 and a position detection sensor 134; the fixed end of the lifting mechanism 133 is fixed on the frame of the chain conveyor 2, and the lifting end of the lifting mechanism 133 is vertically fixed on the bottom end of the lifting support plate 132; the ingot blocking vertical plate 131 is vertically fixed on the rear side of the upper end of the lifting support plate 132 to form an L-shaped ingot blocking lifting structure; the position detection sensor 134 is fixed on the frame of the chain conveyor 2 and corresponds to the front side of the lifting support plate 132. The position detection sensor 134 and the lifting mechanism 133 are both electrically connected to the controller.

[0076] Specifically, the position detection sensor 134 may be a photoelectric sensor; the lifting mechanism 133 may be a cylinder. When the formed metal ingot transported on the conveying chain 21 moves to the position detection sensor 134, it can be detected. The position detection sensor 134 sends a metal ingot arrival signal to the controller. The controller can control the lifting mechanism 133 to move up and down, so as to drive the ingot stop plate 131 to move upward and extend above the conveying chain 21 to position and intercept the formed metal ingot. The intercepted formed metal ingot corresponds to the upper end of the lifting support plate 132. The lifting mechanism 133 continues to drive the lifting support plate 132 to rise. The lifting support plate 132 can abut the middle of the bottom end of the formed metal ingot and lift it upward, thereby making the formed metal ingot separate from the upper end of the conveying chain 21; the length of the lifting support plate 132 is less than the length of the formed metal ingot.

[0077] It should be noted that the formed metal ingot has a T-shaped structure, and the two ends of the formed metal ingot in the length direction can be adapted to overlap the top ends of the two conveyor chains 21; the lower middle side of the formed metal ingot in the length direction can be adapted to be embedded between the two conveyor chains 21 to achieve stable positioning and transportation.

[0078] Specifically, the laser coding machine 6 is composed of four parts: a laser source, an optical system, a scanning control system and a computer control system.

[0079] In some embodiments, after the metal ingot is demolded by the demolding vibration mechanism, the upper end surface of the tin ingot is against the conveying chain and must be turned 180 degrees by the metal ingot turning device so that the upper end surface of the tin ingot faces upward, and the subsequent metal ingot laser coding, inspection, trimming, stacking and other steps can be carried out normally. In addition to providing an unpowered turning device corresponding to the flip demolding end 104 on the linear casting machine to turn the molded metal ingot after flip demolding, other technical methods can also be used, such as turning the molded metal ingot on the chain conveyor 2.

[0080] Specifically, a metal ingot turning mechanism 19 is provided between the turning and demolding end 104 of the corresponding linear casting machine 1 and the laser coding machine 6 , and the metal ingot turning mechanism 19 is arranged between two conveying chains 21 . The metal ingot turning mechanism 19 includes an ingot blocking cylinder 191, an ingot turning cylinder 192 and a photoelectric position sensor 193; the photoelectric position sensor 193 is arranged on the frame of the chain conveyor 2 and corresponds to the upper end of the conveying chain 21; the ingot blocking cylinder 191 and the ingot turning cylinder 192 are arranged below between the two conveying chains 21; an ingot blocking plate 1911 is fixed to the telescopic end of the ingot blocking cylinder 191; the telescopic end of the ingot turning cylinder 192 is hinged with a flap, one end of which is hinged to the frame of the chain conveyor 2; when the photoelectric position sensor 193 detects that a formed metal ingot passes through this position, the ingot blocking cylinder 191 pushes the ingot blocking plate 1911 to rise above the conveying chain 21 and corresponds to 1 / 4 of the height of the formed metal ingot, and at the same time, the ingot turning cylinder 192 drives the flap 1921 to rotate, so that the flap rotates 90 degrees, and the flap pushes from the lower end surface of the formed metal ingot to flip the formed metal ingot 180 degrees to achieve uprighting.

[0081] In some embodiments, a clamping fixture 14 is fixedly installed on the outer sides of the two conveying chains 21 on the frame of the chain conveyor 2 corresponding to the trimming robot 8 to clamp and fix the lower parts of the two ends of the formed metal ingot in the jacking state.

[0082] After the ingot blocking and lifting device 13 intercepts the formed metal ingot from the conveying chain 21 and lifts it to a predetermined height, in order to ensure that the formed metal ingot does not shift when the trimming robot 8 trims and deburrs the formed metal ingot, the formed metal ingot in the lifted state is further clamped and fixed by the clamping fixture 14, thereby preventing displacement; the clamping fixture 14 clamps the lower parts of the two ends of the formed metal ingot and will not interfere with the trimming operation of the trimming robot 8 on the top of the formed metal ingot.

[0083] Specifically, the clamping fixture 14 includes two clamping cylinders 141 and clamping plates 142 symmetrically arranged on the outside of the two conveying chains 21; the two clamping cylinders 141 are horizontally installed on the frame of the chain conveyor 2, the piston rods of the two clamping cylinders 141 are coaxially arranged, and the opposite ends of the two piston rods are installed with clamping plates 142; the two clamping plates 142 are parallel to each other and arranged at intervals, and the top ends of the two clamping plates 142 can correspond to the middle and lower parts of the two ends of the clamped formed metal ingot in the length direction.

[0084] In some embodiments, the appearance quality inspection device 7 includes a 2D industrial camera, a 3D industrial camera and a quality analysis system. The 2D industrial camera and the 3D industrial camera are vertically installed above the ingot lifting device 13 to take pictures and collect the appearance data of the formed metal ingot; the quality analysis system is electrically connected to the 2D industrial camera and the 3D industrial camera to receive the appearance data and perform appearance quality comparison inspection and processing, and then judge whether the formed metal ingot is qualified.

[0085] After the ingot blocking and lifting device 13 intercepts the formed metal ingot from the conveying chain 21 and lifts it to a predetermined height, the 2D industrial camera can take a picture of the formed metal ingot to perform comparative detection of surface color, surface laser coding information, and texture scum to determine whether the product is qualified; the 3D industrial camera can measure the three-dimensional size, contour curvature, and upper surface convexity of the formed metal ingot to determine whether the product is qualified.

[0086] In some embodiments, an ingot pushing cylinder 15 is arranged on one side of the chain conveyor 2 corresponding to the appearance quality inspection device 7, and a waste ingot receiving tray 16 is arranged on the other side corresponding to the ingot pushing cylinder 15; the controller electrically connects the quality analysis system and the ingot pushing cylinder 15 to control the ingot pushing cylinder 15 to push the formed metal ingots that are in a positioned jacking state and fail the appearance quality inspection to the waste ingot receiving tray 16.

[0087] If the inspection result of the 2D industrial camera is unqualified, the unqualified metal ingot will be pushed out from the ingot blocking lifting device 13 to the waste ingot receiving tray 16 by the ingot pushing cylinder 15; if the inspection result of the 2D industrial camera is qualified, the 3D industrial camera will continue to inspect; if the 3D industrial camera inspection is unqualified, the unqualified metal ingot will be pushed out from the ingot blocking lifting device 13 to the waste ingot receiving tray 16 by the ingot pushing cylinder 15; if the 3D industrial camera inspection is qualified, the ingot blocking lifting device 13 will place the qualified formed metal ingot on the conveying chain 21 and continue to convey it to the rear.

[0088] In some embodiments, the hand of the trimming robot 8 is equipped with a trimming tool 81 and a metal chip recovery straw; the metal chip recovery straw is arranged corresponding to the upper end of the trimming tool 81 to suck and recover the metal chips cut off by the trimming tool 81 from the formed metal ingot.

[0089] The trimming robot 8 controls the trimming tool 81 installed on its hand to position at the edge of the formed metal ingot, and drives the trimming tool 81 to circle the edge of the formed metal ingot along a preset trajectory to repair the burrs on the edge of the metal ingot; the burr chips that are cut off are sucked away by the metal chip recovery straw and recovered centrally.

[0090] Specifically, the trimming robot 8 is composed of a trimming tool 81, a metal scrap recovery straw, a six-axis robot, and a robot control system. The trimming tool 81 can be a scraper. The robot control system is used to control the movement trajectory of the scraper to scrape off the flash and burrs on the surface of the metal ingot.

[0091] Specifically, the palletizing robot 9 is composed of a clamp 91, a six-axis robot, and a robot control system. The clamp 91 is installed on the hand of the palletizing robot 9. The robot control system is used to control the robot to clamp and stack metal ingots and control its motion trajectory.

[0092] Specifically, the fully automatic baler 10 is composed of a steel belt conveyor device, a steel belt tensioning device, a steel belt buckle assembly, a frame, a rotating table and an electrical control system; the fully automatic baler 10 can use existing products, and the specific model is VS31 L-0.

[0093] In some embodiments, the automatic weighing device 11 includes a weighing platform 111 arranged on the side of the chain conveyor 3 for weighing metal ingot stacks and an ingot stack transporting fork mechanism 112 arranged corresponding to the weighing platform 111 to transport the packaged metal ingot stacks back and forth between the chain conveyor 3 and the weighing platform 111.

[0094] When the metal ingot stack on the chain conveyor 3 is transported to the corresponding automatic weighing device 11, the ingot stack transporting fork mechanism 112 can move the metal ingot stack from the chain conveyor 3 to the weighing platform 111 for weighing. After the weighing is completed, the ingot stack transporting fork mechanism 112 can move the metal ingot stack from the weighing platform 111 back to the chain conveyor 3 and continue to transport it to the rear.

[0095] Specifically, the automatic weighing device 11 also includes an electronic control system; the weighing platform 111 is a 1.5-ton electronic platform scale; the ingot stack handling fork frame mechanism 112 includes a fork frame 1121, a lifting and translational driving mechanism 1122 and a gantry frame 1123; the gantry frame 1123 is arranged across the chain plate conveyor 3 and the weighing platform 111; the lifting and translational driving mechanism 1122 is installed on the gantry frame 1123, and the fork frame 1121 is horizontally fixedly installed on the driving end of the lifting and translational driving mechanism 1122; the lifting and translational driving mechanism 1122 is used to drive the fork frame 1121 to lift and move horizontally, so that the fork frame 1121 can be extended into the bottom of the metal ingot stack (the fork is at the ingot ear at the bottom layer of the ingot stack) and lifted and transported. The lifting and translational driving mechanism 1122 can be designed with reference to the existing technology, and the specific structure and installation method will not be repeated here.

[0096] In some embodiments, the automatic labeling device 12 includes a label printer 121, a labeling robot 122 and a label suction cup 123; the label printer 121 is electrically connected to the weighing platform 111 to collect the weighing data of the metal ingot stack and print a label with the product information of the metal ingot stack; the labeling robot 122 has a label suction cup 123 installed on its hand to drive the label suction cup 123 to absorb the printed label from the label output end of the label printer 121, and transfer the label to the surface of the metal ingot stack.

[0097] The label printer 121 can print out labels containing the weight information of the metal ingot stack; the labeling robot 122 controls the label suction cup 123 to flexibly label at a suitable position on the surface of the metal ingot stack.

[0098] Specifically, the automatic labeling device 12 is composed of a label printer 121, a label suction cup 123, a photoelectric switch, a six-axis robot, and a robot control system. The label suction cup 123 is composed of a vacuum suction cup 1231, a vacuum pump 1232, and a spring 1233; the vacuum pump 1232 is connected to the vacuum suction cup 1231 through a pipeline to extract air to generate negative pressure; the photoelectric switch is electrically connected to the robot control system and is installed on the chain conveyor 3 to detect and feedback the actual position of the metal ingot stack; one end of the spring 1233 is connected to the label suction cup 123, and the other end is connected to the six-axis robot hand to prevent excessive torque when labeling and ensure that the label is accurately and firmly pasted on the surface of the ingot stack.

[0099] Specifically, the controller is a PLC controller, which is composed of a communication card, a power supply, a CPU controller, a switch card, and an analog card, and is mainly used for signal interaction transmission control between various devices and mechanisms.

[0100] Specifically, the intelligent casting system can be used for the intelligent casting of metals such as tin, aluminum, zinc, and alloys by appropriately modifying the relevant parameters of equipment such as molds, cooling devices, laser coding machines, and stacking robot fixtures according to the different types of cast metals.

[0101] The working process of a full-process metal ingot intelligent casting system is as follows:

[0102] The casting robot scoops up the heated and liquefied liquid metal from the molten metal pot, runs to the top of the casting end according to the set running trajectory, and slowly pours the molten metal in the three-cavity scoop into the three casting molds of the linear casting machine running at a low speed. After the pouring is completed, the casting robot continues to perform this action periodically; when the photoelectric switch of the linear casting machine detects that the casting mold containing the molten metal runs to the slag removal station, the slag removal robot starts to remove the slag on the surface of the liquid metal tin in the casting mold according to the preset trajectory, and throws the slag removed from the three slag removal boards into the slag tray according to the preset trajectory. The slag removal robot performs this action periodically; the casting mold with the slag removed from the surface continues to run backward at a low speed, and runs to the cooling spray area, where fans and cold water sprays are used to cool the liquid metal tin in the casting mold to cool and solidify. A solid metal ingot with a temperature of about 30℃~40℃; when the mold containing the solid metal ingot runs to the demolding position, it is demolded by vibrating the flipped mold; the demolded metal ingot runs along the conveyor chain to the laser coding position, the ingot blocking and lifting device intercepts the metal ingot from the conveyor chain and lifts it to a predetermined height for laser coding by a laser coding machine. The coding information mainly includes the metal ingot trademark, metal ingot brand, metal ingot production batch and other information. This information can be sent to the laser coding machine control system by the factory production information management system; the metal ingot after laser coding runs along the conveyor chain to the appearance quality inspection position, the ingot blocking and lifting device intercepts the metal ingot from the conveyor chain and lifts it to a predetermined height. First, a 2D industrial camera takes pictures to check the surface color, surface laser coding information, and texture. (Slag) comparative inspection, if the inspection fails, the ingot pushing cylinder will push the metal ingot from the casting line into the waste ingot receiving tray 16, if the inspection passes, the 3D industrial camera will continue to perform three-dimensional size measurement, curvature measurement, and upper surface convexity measurement, if the 3D industrial camera inspection fails, the ingot pushing cylinder will push the metal ingot from the casting line into the waste ingot receiving tray, and the metal ingot that passes the inspection will continue to run to the trimming station along the conveyor chain; when the metal ingot that passes the inspection runs to the trimming station, the ingot blocking and lifting device 13 and the clamping fixture 14 will intercept and clamp the metal ingot from the conveyor chain firmly, the trimming robot lowers the scraper to the edge of the metal ingot, and the scraper goes around the edge of the metal ingot according to the preset trajectory to scrape off the burrs on the edge of the metal ingot; after the trimming is completed, the metal ingot blocks the lifting device 13 and the clamping fixture 14 to fix the metal ingot. The fixer puts the metal ingot back to the conveyor chain. After the metal ingot runs to the stacking position, the ingot blocking and lifting device intercepts and lifts the metal ingot from the conveyor chain. When there are five metal ingots at the stacking position, the stacking robot uses the clamp to simultaneously pick up the five metal ingots and put them to the stacking position for stacking. The stacking method of the metal ingots can be adjusted by rotating the direction of the robot clamp. The ingot stack is divided into 8 layers, with 5 metal ingots on each layer. When the ingot stack is stacked in a fixed stacking method, it runs to the packaging station with the conveyor chain plate machine. The packaging machine performs steel belt threading, tensioning, buckling, cutting and other steel belt packaging work. Two steel belts are threaded on each side of the ingot stack. After the two steel belts are buckled, the rotating table rotates 90 degrees, and the other two sides of the ingot stack are packaged with steel belts. The four steel belts are distributed in a "well" shape.After the ingot stack is packed, it moves to the automatic weighing station with the conveyor chain conveyor. The fork frame, driven by the servo motor, picks up the ingot stack and puts it on the electronic platform scale for weighing. After weighing, the fork frame puts the ingot stack back on the chain conveyor. At the same time, the weighing data is transmitted to the automatic labeling device by the secondary instrument of the electronic scale. After the ingot stack is packed, it moves to the automatic labeling station with the conveyor chain. The label machine prints the labels (the label information mainly includes weight, trademark, brand, production batch number, etc.). The label machine prints two labels each time. After the label is printed, the labeling robot moves to the label position and absorbs two labels through the vacuum suction cup. After the label is absorbed, the robot moves to the ingot stack according to the preset trajectory to paste the labels. The two labels are respectively pasted on the adjacent sides of the ingot stack. After the ingot stack is labeled, it moves to the product offline position with the conveyor chain conveyor. The AGV transport vehicle lifts the metal ingots for subsequent work such as product storage. At this point, the entire metal ingot intelligent casting production process is completed. ;

[0103] The signal interaction control between the equipment in the above metal ingot casting process is centralized in the PLC control system, and periodic and uninterrupted metal ingot casting is achieved through time control, step sequence control, etc.

[0104] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine different embodiments or examples described in this specification.

[0105] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

[0106] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A full-process intelligent metal ingot casting system, characterized in that: include: A linear casting machine (1), wherein a casting mold (102) is installed on the linear casting machine (1); A casting robot (4), the casting robot (4) being arranged on one side of the linear casting machine (1), and having a hand equipped with a scoop (41) capable of quantitatively scooping molten metal and pouring it into the mold cavity of the casting mold (102); A slag scraping robot (5), the slag scraping robot (5) being arranged on one side of the linear casting machine (1), and having a hand equipped with a slag scraping plate (51) capable of scraping slag on the surface of the molten metal in the mold cavity; A chain conveyor (2) and a chain plate conveyor (3), wherein the input end of the chain conveyor (2) corresponds to the lower side of the output end of the linear casting machine (1) to receive the molded metal ingots after demolding; the input end of the chain plate conveyor (3) is arranged corresponding to the output end of the chain conveyor (2); a laser coding machine (6), an appearance quality inspection device (7), a trimming robot (8) and a stacking robot (9) are arranged in sequence on the side of the chain conveyor (2) along the conveying direction to sequentially perform stacking on the molded metal ingots output by the linear casting machine (1). Coding, appearance inspection, trimming and stacking are performed to produce qualified shaped metal ingots; the stacking robot (9) is arranged corresponding to the output end of the chain conveyor (2) to stack the shaped metal ingots on the output end of the chain conveyor (2) onto the input end of the chain conveyor (3); the chain conveyor (3) is sequentially provided with a full-automatic packaging machine (10), an automatic weighing device (11) and an automatic labeling device (12) along the conveying direction to sequentially package, weigh and label the metal ingot stacks, and then output the finished metal ingot stacks; A controller, wherein the controller is electrically connected to and controls the operation of the linear casting machine (1), the chain conveyor (2), the chain plate conveyor (3), the casting robot (4), the slag removal robot (5), the laser coding machine (6), the appearance quality detection device (7), the trimming robot (8), the palletizing robot (9), the full-automatic baling machine (10), the automatic weighing device (11) and the automatic labeling device (12).

2. According to claim 1, a full-process intelligent metal ingot casting system is characterized in that: The scoop (41) has a plurality of chambers (411) arranged in parallel; the upper end of the linear casting machine (1) has a plurality of casting molds (102) arranged in parallel horizontally in sequence along the conveying direction; the casting robot (4) can drive the scoop (41) to move so as to simultaneously pour molten metal into the mold cavities of the plurality of casting molds (102) through the plurality of chambers (411).

3. According to claim 2, a full-process intelligent metal ingot casting system is characterized in that: The casting robot (4) and the slag removal robot (5) are symmetrically arranged on both sides of the linear casting machine (1); the slag removal plate (51) has a plurality of slag removal plates (511) arranged horizontally at intervals; the slag removal robot (5) can drive the slag removal plate (51) to move so that the plurality of slag removal plates (511) are correspondingly embedded in the mold cavities of the plurality of casting molds (102) to remove the slag on the surface of the molten metal.

4. According to claim 1, a full-process intelligent metal ingot casting system is characterized in that: The chain conveyor (2) comprises two conveyor chains (21) arranged horizontally and opposite to each other; the top ends of the two conveyor chains (21) are support ends corresponding to the two ends of the molded metal ingot after demolding, so as to support and convey the molded metal ingot; and an ingot-blocking lifting device (13) is provided between the two conveyor chains (21) corresponding to the laser coding machine (6), the appearance quality detection device (7), the trimming robot (8) and the stacking robot (9), so as to locate, intercept and lift the molded metal ingot upwards, so that the molded metal ingot is separated from the top end of the conveyor chain (21).

5. The full-process intelligent metal ingot casting system according to claim 4 is characterized in that: A clamping fixture (14) is provided on the outer side of the chain conveyor (2) corresponding to the trimming robot (8) to clamp and fix the lower parts of both ends of the formed metal ingot in a jacking state.

6. The full-process intelligent metal ingot casting system according to claim 4, characterized in that: The appearance quality detection device (7) comprises a 2D industrial camera, a 3D industrial camera and a quality analysis system, wherein the 2D industrial camera and the 3D industrial camera are both vertically mounted above the ingot lifting device (13) to take photos and collect appearance data of the formed metal ingot; the quality analysis system is electrically connected to the 2D industrial camera and the 3D industrial camera to receive the appearance data and perform appearance quality comparison detection and processing, thereby judging whether the formed metal ingot is qualified.

7. The full-process intelligent metal ingot casting system according to claim 6, characterized in that: An ingot pushing cylinder (15) is arranged on one side of the chain conveyor (2) corresponding to the appearance quality inspection device (7), and a waste ingot receiving tray (16) is arranged on the other side corresponding to the ingot pushing cylinder (15); the controller is electrically connected to the quality analysis system and the ingot pushing cylinder (15) to control the ingot pushing cylinder (15) to push the formed metal ingots that are in a positioning and lifting state and fail the appearance quality inspection to the waste ingot receiving tray (16).

8. The full-process intelligent metal ingot casting system according to claim 1, characterized in that: The hand of the trimming robot (8) is equipped with a trimming tool (81) and a metal chip recovery suction pipe; the metal chip recovery suction pipe is arranged corresponding to the upper end of the trimming tool (81) to suck and recover the metal chips cut off by the trimming tool (81) from the formed metal ingot.

9. The full-process intelligent metal ingot casting system according to claim 1, characterized in that: The automatic weighing device (11) comprises a weighing platform (111) arranged on the side of the chain conveyor (3) for weighing metal ingot stacks, and an ingot stack transport fork mechanism (112) arranged corresponding to the weighing platform (111) for transporting packaged metal ingot stacks back and forth between the chain conveyor (3) and the weighing platform (111).

10. The full-process intelligent metal ingot casting system according to claim 9, characterized in that: The automatic labeling device (12) comprises a label printer (121), a labeling robot (122) and a label suction cup (123); the label printer (121) is electrically connected to the weighing platform (111) to collect and obtain weighing data of the metal ingot stack, and print a label with product information of the metal ingot stack; the label suction cup (123) is installed on the hand of the labeling robot (122) to drive the label suction cup (123) to absorb the printed label from the label output end of the label printer (121), and transfer the label to the surface of the metal ingot stack.

Images